function f = fun_Homography(H, m, M)
    m_ = H*M;
    m_ = [m_(1,:)./m_(3,:);m_(2,:)./m_(3,:);m_(3,:)./m_(3,:)];
    d_m = m' - m_(1:2,:);
    f = [d_m(1,:) d_m(2,:)];
end